Tissue engineering scaffolds depend not only on the cellular activity of biomaterials but also on the microstructures. 3D printing has the potential to fabricate complex three-dimensional (3D) structures with inter / outer controlled microstructures due to its use in computer-aided design (CAD). A polymer deposition system (PDS) using synthetic biopolymer is an effective technique for the fabrication of 3D scaffolds in bone tissue engineering applications. Polycaprolactone (PCL) has been used extensively as scaffolding biomaterials to regenerate a new tissue. 300 / Solid Shaft, 300 / Hollow Shaft, 700 / Solid Shaft, and 700 / Hollow Shaft scaffolds with pore sizes of 300 and 700 µm and structures of Solid Shaft and Hollow Shaft were fabricated by PDS. The dimensions of the 3D PCL scaffolds were 7.0×7.0×3.6 mm3. The compressive strength of the 3D PCL scaffolds was measured by compression test machine. In addition, the in-vitro cell adhesion and proliferation results of human osteosarcoma (MG63 cell line) cells seeded on scaffolds were evaluated by a cell counting kit-8 assay. These results provide design parameters for bone tissue engineering scaffolds.